The fire was extinguished by 2.20pm, and the fire service shortly left.
Pictures of the incident show police at the aftermath of the scene.
Part of the road was closed though it has since been reopened.
The waste in the back of the Gogar Services lorry was seen pouring out onto the road after the fire.
There were no reports of injuries, and the fire was safely distinguished.
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Emergency services rush to A947 after lorry catches fire
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